User guide

126 6000 Series Programmer's Guide
Safety Features
WARNING
The 6000 Product is used to control your system's electrical and mechanical components.
Therefore, you should test your system for safety under all potential conditions. Failure to do
so can result in damage to equipment and/or serious injury to personnel.
To help ensure a safe operating environment, you should take advantage of the safety features
listed below. These features must not be construed as the only methods of ensuring safety.
See Also refers you to where you can find more in-depth information about the feature (system
connections and/or programming instructions).
Feature Description See Also
Pulse Cut-off
Input (steppers
only)
The pulse-cut input (P-CUT), found on the product's screw-terminal
connectors, is provided as an emergency stop input to the controller. The
P-CUT input is not available on the OEM-AT6400 product.
When you open the P-CUT input, with respect to GND, the step pulses
being send out to the drives on all axes are immediately cut off— This
occurs independent of the microprocessor.
Product's
Installation Guide
Enable Input
(servos only)
The enable input (ENBL), found on the product's screw-terminal
connectors, is provided as an emergency stop input to the controller.
When you open the ENBL input, with respect to GND, the analog output
voltage between CMD+ and CMD- is clamped to almost zero, and the
shutdown outputs are activated on all axes. Clamping occurs independent
of the microprocessor and the DSP. (The clamping circuit is also
connected to the watchdog timer; if the controller's microprocessor fails,
the analog output voltage will be clamped.)
Product's
Installation Guide
Shutdown
Outputs
The controller uses the shutdown outputs to disable the attached drive if it
detects a problem. Shutdown outputs are not available on the OEM-
AT6400 product.
Product's
Installation Guide
Drive Fault
Inputs
The drive fault (DFT) inputs, found on the product's screw-terminal
connectors, allows the drives to tell the controller if they encounter a fault
condition. When a drive fault occurs, the controller stops motion (at the
rate set with the LHAD command) and terminates program execution. No
drive shutdown will result unless it is initiated with an ERRORP error
program. Drive fault inputs are not available on the OEM-AT6400
product.
Product's
Installation Guide
End-of-travel
Limit Inputs
End-of-travel limits prevent the load from crashing through mechanical
stops, an incident that can damage equipment and injure personnel. Use
hardware or software limits, as your application requires.
End-of-Travel
Limits
(page 90)
User Fault Input Using the INFNCi-F command, you can assign any of the
programmable inputs the user fault function. You can then wire the input
to activate when an external event, considered a fault by the user, occurs.
Input Functions
(page 112)
Maximum
Allowable
Position Error
(servos only)
A position error (TPER) is defined as the difference between the
commanded position (TPC) and the actual position as measured by the
feedback device (TFB). The maximum allowable position error is set
with the SMPER command. When the maximum allowable position error
is exceeded (usually due to instability or loss of position feedback), the
controller shuts down the drive and sets error status bit #12 (reported by
the TER command).
If SMPER is set to zero (SMPERØ), position error will not be monitored.
Servo Setup
(page 99)
☞
Programmed Error-
Handling Responses
When any of the safety features listed above are exercised (e.g., DFT input is activated, etc.), the
controller considers it an error condition. With the exception of the shutdown output
activation, you can enable the ERROR command to check for the error condition, and when it
occurs to branch to an assigned ERRORP program. Refer to Error Handling (page 30) for
further information.